Selecting lidar pulse detector depending on pulse type

A computer-implemented method comprising:

• emitting, from a light detection and ranging (LIDAR) device, a pulse of light;
• receiving, at the LIDAR device, a signal indicating receipt of a reflected light pulse reflected from an object in an environment of the LIDAR device;
• classifying the received signal as an unsaturated pulse or a saturated pulse;
• selecting, based, at least in part, on the classifying of the received signal, a light detector from among multiple light detectors of the LIDAR device;
• and
• calculating, by the selected light detector and based, at least in part, on the received signal, a distance from the LIDAR device to the object using a time delay of arrival (TDOA) calculation.

A device comprising:

• a light emitter to emit a pulse of light;
• a light sensor to generate a signal indicating receipt of a reflected light pulse reflected from an object in an environment of the device;
• multiple detectors to determine a distance to an object from which the reflected light pulse was reflected;
• and
• a classifier programmed to:
• receive the signal;
• classify the received signal;
• and
• select, based at least in part on the classifying the received signal, a detector from among the multiple detectors to use to calculate the distance to the object.

A system comprising:

• one or more processors;
• and
• one or more computer-readable media storing instructions executable by the one or more processors, wherein the instructions program the one or more processors to:
• emit a light by a light emitter;
• receive a signal indicative of a detection of reflected light by a light sensor, the reflected light reflected from an object in an environment proximate the system;
• classify the signal as an unsaturated signal or a saturated signal;
• determine a first distance via a first detector;
• determine a second distance, via a second detector;
• select the first distance for output based, at least in part, on determining that the signal represents an unsaturated signal;
• and
• select the second distance for output based, at least in part, on determining that the signal represents a saturated signal.